Method and apparatus for controlling repetitive movements

ABSTRACT

Method and apparatus for controlling movement patterns in repetitive movements, in particular in cyclical or alternating movements defined by the parameters of the amplitude and frequency of the movement, in which these parameters are correlated with the mean velocity of a body effectively or fictively driven forward by the movement as well as a device for realizing the method.

RELATED APPLICATIONS

This application is a continuation-in-part of International ApplicationNo. PCT/EP2005/010076, entitled “METHOD AND DEVICE FOR CONTROLLINGRECURRENT MOVEMENTS” by Korfmacher and filed Sep. 19, 2005, which inturn claims priority from German Patent Application No. DE102004045140,entitled same and filed Sep. 19, 2004, both of which are incorporatedherein by reference in their entirety and for all purposes.

FIELD OF THE INVENTION

The present invention is related to a method for controlling movementpatterns in repetitive movements, in particular in cyclical oralternating movements defined by the parameters of the amplitude (A) andfrequency (F) of the movement, as well as a device for realizing themethod.

BACKGROUND OF THE INVENTION

Such method are well known in training or therapy devices in the form ofbicycle or rowing devices (ergometers) where the person concerned isobliged to exercise against (a) resistance or depending on his pulsemeasurement. The pulse measurement, however, is a relatively irregularvalue and depends on the general constitution of the person.Furthermore, it needs explanation and very often is misunderstood ormisinterpreted by the person considered. This may lead to erroneousdemands on the circulatory system or to counter-indicated results. Inparticular, constant loads may result in undesirable collateral effectsor even damage. The currently known methods and exercise devicescomprise in particular pulse measurements, performance measurements,measurements of the step frequency, the speed and the time. Thesemeasurements have to be correlated and adjusted by complex medicalequations, which frequently are not understood by the person exercising,and therefore induce to errors.

Importantly, these known devices essentially recruit mobiliser musclesthat are recruited at ≧40% of (the) maximum voluntary musclecontraction. These devices are inadequate to train stabilizer muscleswhich are recruited at lesser loads.

Furthermore, currently known devices such as rowing ergometersnecessitate a relatively high and complex mechanical design comprising afly-wheel for storing the energy between two strokes (simulation of theinertia moment of the boat), a handle element connected to the fly-wheelthrough a chain, belt or cable (simulation of the paddle), a dampingmechanism on the fly-wheel (simulation of the friction between the hulland the water) as well as haul-back mechanism (simulation of thestarting situation). Thus, one has to do with numerous simulations,which inevitably, alone or in their combination, are subject to errors.

SUMMARY

The present invention, thus, proposes a method and apparatus, whereinthe mechanical complexity of currently known devices is largely avoidedso as to essentially simplify the method and apparatus and enable theunderstanding by the person exercising by a minimum of parameters, andwherein the person exercising is not stressed by pulse numbers or othersimulations, in particular when under permanent load, but just by theoptimum use of his body energy, for the control of which only one singleobjective parameter is necessary.

The present invention suggests a method and apparatus, as specifiedabove, to correlate the parameters (A, F) with the mean velocity (V) ofa body really or fictively moved forward by the movement.

In a device according to the invention, three values are important inthis context, namely the amplitude of a movement, the frequency of themovement as well as the desired real or fictive speed of a body drivenforward by the movement. The amplitude is given by the total diameter ofa pedal drive, the frequency by the number of rotations of the pedaldrive per second and the desired speed in km/h according to walking,(trotting), jogging or running of the person exercising.

What is important is to optimally correlate these parameters in thesense of an optimum use of the body energy of the person concerned. Themodel for such optimum relationship is nature itself with the migrationof birds. They have to overcome long distances without overstressingtheir body forces (energy). On the other hand they do not reach theirgoal if they do not make optimum use of their energy.

Physics teach us in fluid mechanics an equation which puts the abovementioned parameters in an optimum relationship, the so-called Strouhalequation defined as follows: S_(t)=A×F/V. This equation is equally validfor cyclical as well as for oscillating movement patterns. It isindependent of any mass to be moved or from any outer resistive load. Itdescribes a pure movement pattern in relation to a speed.

Therefore, in an advantageous embodiment of the inventive method andapparatus, the relationship between amplitude, frequency and speed isadjusted by the equation X=A×F/V. In a particularly advantageousembodiment of the invention the value of X is 0,3.

Science has confirmed that the Strouhal number S_(t) defined by thisequation is between 0,2 and 0,4 for optimum energy performance of fishand birds. This applies for sardines aw well as for whales, for bats aswell as for swallows or geese. This value seems to be an evolutionaryoptimum valid in the whole universe. Dimensionless numbers are importantin biomechanics as they may imply by their constancy dynamicsimilarities, despite possible differences in media and size.

The device according to the invention provided for realizing the methodaccomplishing the objective described above comprises means to perform acyclical or alternating movement and suggests that means are provided toadjust the amplitude, frequency and the desired mean speed of the bodyreally of fictively driven by the movement.

On the device according to the invention and adequate for realizing themethod the mean speed V can be chosen according to the target idea suchas walking, jogging or running, where walking is i.e. 6 km/h. S_(t) isgiven with 0,3. It is important now to adjust A and F in such a way thatthe Strouhal equation is satisfied with S_(t)=0,3. In case the amplitudeis given with a (fix) diameter of i.e. 0,3 m for the pedal drive, thefrequency must adjusted to 1,67 Hz to achieve optimum use of the body'sown energy.

Imagining that the person exercising shall walk, at these adjustments,for ½ hour using optimum body energy, it is important to control thefrequency of the pedal movement at 1,67 Hz. This means that one singleand objective value only is decisive, in this case the frequency, whichis totally independent of any judgment or arbitrary decision and whichis not subject to simulation errors.

On the other hand and according to the invention it is also possible tobring a person back to a movement pattern with optimum energy usewithout overstressing him. A frail person may not immediately be able toreach or hold a frequency calculated for him over a longer period oftime. That means that an objective value is fixed independently of thecurrent condition of the patient.

After an exercise according to the invention other well known load testsmay be performed to evaluate the condition of the patient such as energybalance, pulse rate and other medical key values.

The device according to the invention in particular has no energystoring masses and thus there are no complex mechanics or controls thatcorrelate energies and losses with medical key values as in well knowndevices. The device according to the invention, therefore, works muchmore precisely and is essentially less prone to failures.

Due to the absence of masses to be moved, the device according to theinvention is particularly suited for children, elderly and people whoare not, or are only insufficiently, able to control their movements.Due to the simplicity of its design even bed-rest patients in a supineposition can use it. By properly choosing the value for V it is possibleto determine movement patterns from slow walk to fast run withoutoverstressing the patient energetically. As there is no mass to be movedin the device according to the invention, it can also be used underweightlessness conditions for the controlled training of astronauts.

With the device according to the invention it is furthermore possible tobring a person to his best performance level at optimum energy use.Thus, the method according to the invention and the device for itsrealization can be used to determine the optimum longtime energyperformance level of a person. Based on this knowledge the person thencan do further and well-known optimizations.

This applies e.g. for a long distance runner. It is easy to determinethe mean speed to achieve a desired performance. The runner will trainaccording the method and apparatus of the invention with the aim toreach the optimum frequency or step length at optimum energy performanceadequate for that mean speed. With this knowledge he then will use knownmeans and methods to train for special stress situations during thestarting phase, for intermediate or final sprints.

The situation is different for a patient who shall be reeducated e.g.after an accident to regain his optimum energy performance. Here again,the target speed would be walking, jogging, running etc. as well as theoptimum Strouhal number of 0, 3. For a given movement amplitude of abicycle or rowing type device it is possible to bring the patientprogressively back to his optimum frequency. Pulse measurements mayserve to control that there will be no risk of overstress for thecirculatory system in particular for a rehabilitation measure. In thiscase, the pulse frequency is not used as a determining parameter, yetjust for the purpose of monitoring. With S_(t)=0,3 and an adjustment ofA and F feasible for the patient the optimum pulse frequency will come,so to say, automatically by the time. In the same way it is possible toimagine an over-weight person who is not immediately able to reach orhold a frequency given for a certain movement amplitude over a longertime. It is well possible to help the person to lose weight by means ofwell known methods. The method according to the invention will thenserve to determine the long term energy performance on the basis ofobjective, reproducible and repeatable criteria.

According to the invention it is also possible to adjust the amplitudeand frequency according to the capacity and condition of the personexercising and then to calculate the speed with S_(t)=0,3. In this caseS_(t)=0,3 directly is the single unique parameter controlling themovement. Therefore and according to the method and apparatus of theinvention it is possible to train specifically stabilizer muscles whichare recruited at only 20-30% of the maximum voluntary musclecontraction. By holding the control constant at S_(t)=0,3 it is alsopossible, according to the invention, to avoid that due to unconsciousor uncontrolled movement or load muscle forces come into play (≧40%maximum voluntary contraction) which then would involuntarily recruitmobiliser muscles and switch off stabilizer muscles.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention has other objects and features of advantage thatwill be more readily apparent from the following description of the bestmode of carrying out the invention and the appended claims, when takenin conjunction with the accompanying drawing, in which:

FIG. 1 is a side elevation schematic diagram of one specific embodimentof the apparatus according to the present invention for a rotarymovement.

FIG. 2 a side elevation schematic diagram of another specific embodimentof the apparatus according to the present invention for reciprocatingmovement.

FIG. 3 a side elevation schematic diagram of another specific embodimentof the apparatus according to the present invention for various movementpatterns.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

While the present invention will be described with reference to a fewspecific embodiments, the description is illustrative of the inventionand is not to be construed as limiting the invention. Variousmodifications to the present invention can be made to the preferredembodiments by those skilled in the art without departing from the truespirit and scope of the invention as defined by the appended claims. Itwill be noted here that for a better understanding, like components aredesignated by like reference numerals throughout the various figures.

The device according to the invention comprises a base 1 with a bearingstructure 2. A crank 5 is pivoted on this bearing structure 2 by meansof a bearing 3. The crank may be a pair of pedals or a double lever handcrank. Pedals or handles 4 are pivoted at the free ends of the crank 5.These pedals or handles may be provided with well known retentionbuckles.

A suitable cable 6 connects the device to a control unit 7 fortransmitting the number of rotations of the crank to the control unit 7.In this unit the freely selectable mean speed V can be set as well, i.e.the amplitude of the crank 5. The control unit 7 furthermore comprises atimer T as well as a display 8 displaying the optimum work of the deviceaccording to the invention.

The control unit 7 can be connected to a monitor 9 visualizing, savingor printing recorded data.

The device according to the invention works as follows: A person is forinstance lying on the base 1 and activates the crank 5 with his feet bymeans of the pedals 4. The device may equally well present the shape ofa bicycle. A desired mean speed such as walking, jogging or running isset in V on the control unit 7 with the dimension km/h. The diameteradjusted on the crank 5 is set in A with the dimension meter (m). Abuilt-in calculator now calculates the frequency F of the crank 5according to the Strouhal equation and with the value 0,3 for theStrouhal number. The frequency currently performed on the crank 5 isvisualized on the display 8 through a color display comprising anoptimum, green central area as well as areas for showing deviations upor down.

The person training can now observe on the display 8 whether she/he isor remains in the optimum frequency area. The training time can beadjusted in T. It is independent from the calculator. For laterevaluation purposes a protocol may be registered by means of the monitor9, showing i.e. the frequency behavior over the time.

With a fixed crank 5 length and thus with a fixed amplitude A thecontrol unit 7 may as well vary V to calculate the optimum frequency. Itwould also be possible to set the frequency F and vary the amplitude.

FIG. 2 shows another embodiment of the device according to the inventionfor linear and reciprocating movements. The bearing structure 2according to FIG. 1 comprises here a rotating crank disk 10 actingtogether with push-pull bars 11, 12. At its rotating end, bar 11 ispivoted on the crank disk 10 along a coulisse 13. This allows fordetermining the amplitude A of the movement. Bar 12 is suitably locatedin a housing 14 and presents at its grip end a handle 15. As describedin connection with FIG. 1, the device is connected to a control unit 7on which the settings as described may be made. With this embodiment andtogether with an appropriate design it is possible, for instance, tocontrol movements of fingers, head and feet.

As the device according to the invention doesn't need any fly-wheel orfriction elements combined with complex mechanics, it can be builtextremely lightweight. The device is not “loaded”. It only does controlthe movements.

The device according to the invention is particularly suited for longterm exercises and for the “normal” training of the movement and muscleapparatus. It specifically does not aim at movements under externalloads so that during its application false loads may be largelyexcluded. By reducing the exercise to one single out of three objective,yet variable, parameters to control the movement over a certain periodof time, it is almost impossible for the person exercising to make anyinterpretation error. On the display 8 the person sees exactly whethershe/he is in the optimum or sub-optimum area of the value calculated.

Due to the absence of masses the device according to the invention canequally well be used under weightlessness conditions. With the deviceaccording to the invention priority always is given to the optimum useof body own energy while doing a controlled, pre-defined movement over alonger period of time. This way, erroneous developments such asuncontrolled muscle build-up or wear of joints are avoided. As thedevice guides the user to perform natural movement patterns, theexercise on the device is not felt as an unpleasant load. The single(only) parameter that can be deliberately set by the user is the time. Ahealthy person will just set a desired time. With a sick or convalescentperson, the time will be set by a doctor or physiotherapist according tomedical indications. In any case, a person will stop exercising whenshe/he feels that he “walked” or “ran” enough or simply feels tired. Asthere are no forced movements in the device according to the inventionthat could be felt unnatural or over-stressing, the user doesn't feelover-taxed by the movement control.

Clearly, the invention is not limited to the embodiments shown anddescribed. It encompasses any embodiment realizing the inventive idea.Thus, the method and apparatus according to the invention are notslavishly bound to the optimum factor value of 0,3. If, for a certaincase or circumstance another factor should be indicated it is evidentlypossible to use that factor value without leaving the scope of theinvention. It is also possible to use other means to realize movementpatterns defined by amplitude and frequency. FIG. 3 shows a particularlyadvantageous embodiment of the invention. A base frame 16 is providedwith a front post 17 presenting at its upper end a control unit 18. Thefront post 17 furthermore comprises a grip bar 19 connected to it via ahinge and lockable in different angle positions.

At its rear end, the base frame 16 furthermore comprises a support frame20. On this support frame 20 a disk shaped crank shaft 21 isarticulated, diagonally comprising a coulisse 22 for adjusting thelength of the crank arm. The support frame 20 furthermore comprises aheight adjustable bearing post 23 for a length adjustable saddle 24.

As schematically shown in FIG. 3 for one side only of the deviceaccording to the invention, the coulisse 22 comprises a not shown slidestone connected via a hinge with the rear end of a crank bar 25. Thefront end of this crank bar 25 is connected via a hinge to the lower endof a pendulum bar 26. With its upper end, this pendulum bar 26 isappropriately articulated on the front post 17 so that the circularmovements of the crank disk 21 are translated, through the crank bar 25,into pendulum movements of the pendulum bars 26.

The crank bar 25 comprises a step plate 27 which can be fixed over itstotal length of the crank bar 25 so that it also can assume the positionshown by the dotted lines.

The articulation of the pendulum bar 26 comprises fixation means notshown for adjustably holding oscillating arms 28 shown in dotted lines.The holding means allow the oscillating arms 28 to be adjusted in anyangular position with respect to the pendulum arms 26.

The function of the particularly advantageous embodiment of theinvention schematically shown in FIG. 3 is as follows;

The user sits on the saddle 24 adjusted in height and length accordingto the person's needs. At the same time, the grip bar 19 is adjusted insuch a way that the person can grasp it comfortably. The desired radiusof the crank arm is adjusted on the coulisse 22 according to theconditions of the person exercising. This gives the amplitude of themovement around the crankshaft 21. The step plates 27 are adjusted alongthe crank bar 25 in such a manner that any movement pattern fromcircular at the coulisse end of the crank bar 25 to slightly bow shapedlength-ways movement at the pendulum bar end of the crank bar 25.Between these two extreme positions various positions of the step plate27 are possible so as to produce almost elliptical movement patterns. Asdescribed in connection with FIG. 1, the number of rotations of thecrankshaft 21 is counted and sent to the control unit 18 where they areprocessed according to the Strouhal equation.

The person can exercise while sitting on the saddle 24 or by freelystanding. It is also possible that the person is suspended in a trapezenot shown over the device or lies on a table or bed not shown behind thedevice for activating the step plates 27. In such a case the post 23 andthe saddle 24 would be removed from the support frame 20.

The person, however, may also execute up and down movements with his/herarms or legs by activating the oscillating arms 28.

The embodiment of the invention according to FIG. 3 allows for numerousmovement patterns with only one device.

According to the invention such embodiment can be advantageous where theamplitude and frequency are given and the speed is calculated with 0,3.In this case the single unique control parameter is the value 0,3showing up on the display 8 as a green area. This is also applicable toa railway trolley where the activation of the handle can be programmedand controlled in a manner similar to a rowing boat mechanism.

Without leaving the scope of the invention it is also possible that thecontrol unit 7 calculates a force-time-diagram shown or printed on themonitor 9 to register the work performed by the movement of the personexercising.

1. A method for controlling movement patterns in repetitive movements,in particular in cyclical or alternating movements defined by theparameters of the amplitude and frequency of the movement, characterizedby the fact that these parameters (A, F) are correlated with the meanvelocity (V) of a body effectively or fictively driven forward by themovement.
 2. The method according to claim 1, characterized by the factthat the relationship between the parameters (A, F, V) is adjustedaccording to the equation X=A×F/V.
 3. The method according to claim 2,characterized by the fact that the value of the factor X is adjusted to0,3.
 4. An apparatus comprising means to realize a cyclical oralternating movement, characterized by the fact that it comprises means(5, 7; 18) for setting the amplitude (A), frequency (F) or mean speed(V) of a body effectively or fictively driven forward by the movement.5. The apparatus according to claim 4, characterized by the fact thatthe length of the crank (5; 11; 13; 22) and thus the amplitude (A) ofthe movement is adjustable.
 6. The apparatus according to one of claim5, characterized by the fact that it comprises a control unit (7; 18)with means to adjust the amplitude (A) of the movement, its mean real orfictive velocity (V) as well as its frequency (F).
 7. The apparatusaccording to claim 6, characterized by the fact that the control unit(7; 18) comprises a calculator determining the amplitude (A) of themovement as a function of its frequency (F) and velocity (V).
 8. Theapparatus according to claim 6, characterized by the fact that thecontrol unit (7; 18) comprises a calculator determining the frequency(F) of the movement as a function of its amplitude (A) and velocity (V).9. The apparatus according to claim 6, characterized by the fact thatthe control unit (7; 18) comprises a calculator determining the velocity(V) as a function of the amplitude (A) and frequency (F) of themovement.
 10. The apparatus according to one of claim 9, characterizedby the fact that the calculator comprises means to determine theamplitude (A), frequency (F) and/or velocity (V) on the basis of theStrouhal equation.
 11. The apparatus according to claim 10,characterized by the fact that the Strouhal number has he value 0,3. 12.The apparatus according to one of claim 11, characterized by the factthat the calculator comprises means to write a force-time-diagram.